南京邮电大学学报（自然科学版）2018，Vol.38Issue(1)：20-26,7.DOI:10.14132/j.cnki.1673-5439.2018.01.002
软体机器人运动学与动力学建模综述
Review on kinematics and dynamics modeling for soft robots
摘要
Abstract
Soft robots are a new class of robots with characteristics of high structural softness,good environmental adaptability,strong affinity,and versatility.In recent years,the progress in the field of rapid development of soft robots has demonstrated that the robot made of soft material is better than the traditional rigid continuum robots on the adaptability and the flexibility.Soft robots are also believed to be able to fill the gap between humans and robots due to their inherent structural compliance.Firstly,the status of soft robots is introduced.Then,the method for modeling the piecewise constant curvature method of soft robots is proposed in detail.Furthermore,the new Lagrange modeling method for kinematics is presented.Finally,main challenges for soft robot modeling are analyzed and the future research direction is pointed out for the kinematics and dynamics modeling of the soft robots关键词
软体机器人/运动学建模/动力学建模Key words
soft robots/kinematics modeling/dynamics modeling分类
信息技术与安全科学引用本文复制引用
蒋国平,孟凡昌,申景金,徐丰羽..软体机器人运动学与动力学建模综述[J].南京邮电大学学报（自然科学版）,2018,38(1):20-26,7.基金项目
国家自然科学基金(51775284,61728302)、江苏省自然科学基金(BK20151505)和机器人技术与系统国家重点实验室2017年开放课题重点项目(SKLRS-2017-KF-10)资助项目 （51775284,61728302）
